source: ntrip/trunk/BNC/combination/bnccomb.cpp@ 3064

Last change on this file since 3064 was 3064, checked in by mervart, 13 years ago
File size: 17.2 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: bncComb
6 *
7 * Purpose: Combinations of Orbit/Clock Corrections
8 *
9 * Author: L. Mervart
10 *
11 * Created: 22-Jan-2011
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <newmatio.h>
18#include <iomanip>
19
20#include "bnccomb.h"
21#include "bncapp.h"
22#include "cmbcaster.h"
23#include "bncsettings.h"
24#include "bncmodel.h"
25#include "bncutils.h"
26#include "bncpppclient.h"
27#include "bnssp3.h"
28#include "bncantex.h"
29#include "bnctides.h"
30
31using namespace std;
32
33// Constructor
34////////////////////////////////////////////////////////////////////////////
35cmbParam::cmbParam(cmbParam::parType type_, int index_,
36 const QString& ac_, const QString& prn_,
37 double sig_0_, double sig_P_) {
38
39 type = type_;
40 index = index_;
41 AC = ac_;
42 prn = prn_;
43 sig_0 = sig_0_;
44 sig_P = sig_P_;
45 xx = 0.0;
46}
47
48// Destructor
49////////////////////////////////////////////////////////////////////////////
50cmbParam::~cmbParam() {
51}
52
53// Partial
54////////////////////////////////////////////////////////////////////////////
55double cmbParam::partial(const QString& AC_, t_corr* corr) {
56
57 if (type == AC_offset) {
58 if (AC == AC_) {
59 return 1.0;
60 }
61 }
62 else if (type == Sat_offset) {
63 if (AC == AC_ && prn == corr->prn) {
64 return 1.0;
65 }
66 }
67 else if (type == clk) {
68 if (prn == corr->prn) {
69 return 1.0;
70 }
71 }
72
73 return 0.0;
74}
75
76//
77////////////////////////////////////////////////////////////////////////////
78QString cmbParam::toString() const {
79
80 QString outStr;
81
82 if (type == AC_offset) {
83 outStr = "AC offset " + AC;
84 }
85 else if (type == Sat_offset) {
86 outStr = "Sat Offset " + AC + " " + prn;
87 }
88 else if (type == clk) {
89 outStr = "Clk Corr " + prn;
90 }
91
92 return outStr;
93}
94
95// Constructor
96////////////////////////////////////////////////////////////////////////////
97bncComb::bncComb() {
98
99 bncSettings settings;
100
101 QStringList combineStreams = settings.value("combineStreams").toStringList();
102
103 if (combineStreams.size() >= 2) {
104 QListIterator<QString> it(combineStreams);
105 while (it.hasNext()) {
106 QStringList hlp = it.next().split(" ");
107 cmbAC* newAC = new cmbAC();
108 newAC->mountPoint = hlp[0];
109 newAC->name = hlp[1];
110 newAC->weight = hlp[2].toDouble();
111 if (_masterAC.isEmpty()) {
112 _masterAC = newAC->name;
113 }
114 _ACs[newAC->mountPoint] = newAC;
115 }
116 }
117
118 _caster = new cmbCaster();
119 connect(this, SIGNAL(newMessage(QByteArray,bool)),
120 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
121
122
123 // A Priori Sigmas (in Meters)
124 // ---------------------------
125 double sigAC_0 = 100.0;
126 double sigAC_P = 100.0;
127 double sigSat_0 = 100.0;
128 double sigSat_P = 0.0;
129 double sigClk_0 = 100.0;
130 double sigClk_P = 100.0;
131
132 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
133 // ----------------------------------------------------------------------
134 int nextPar = 0;
135 QMapIterator<QString, cmbAC*> it(_ACs);
136 while (it.hasNext()) {
137 it.next();
138 cmbAC* AC = it.value();
139 if (AC->name != _masterAC) {
140 _params.push_back(new cmbParam(cmbParam::AC_offset, ++nextPar,
141 AC->name, "", sigAC_0, sigAC_P));
142 for (int iGps = 1; iGps <= 32; iGps++) {
143 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
144 _params.push_back(new cmbParam(cmbParam::Sat_offset, ++nextPar,
145 AC->name, prn, sigSat_0, sigSat_P));
146 }
147 }
148 }
149 for (int iGps = 1; iGps <= 32; iGps++) {
150 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
151 _params.push_back(new cmbParam(cmbParam::clk, ++nextPar, "", prn,
152 sigClk_0, sigClk_P));
153 }
154
155 // Initialize Variance-Covariance Matrix
156 // -------------------------------------
157 _QQ.ReSize(_params.size());
158 _QQ = 0.0;
159 for (int iPar = 1; iPar <= _params.size(); iPar++) {
160 cmbParam* pp = _params[iPar-1];
161 _QQ(iPar,iPar) = pp->sig_0 * pp->sig_0;
162 }
163
164 // Output File (skeleton name)
165 // ---------------------------
166 QString path = settings.value("cmbOutPath").toString();
167 if (!path.isEmpty() && !_caster->mountpoint().isEmpty()) {
168 expandEnvVar(path);
169 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
170 path += QDir::separator();
171 }
172 _outNameSkl = path + _caster->mountpoint();
173 }
174 _out = 0;
175
176 // SP3 writer
177 // ----------
178 if ( settings.value("cmbSP3Path").toString().isEmpty() ) {
179 _sp3 = 0;
180 }
181 else {
182 QString prep = "BNC";
183 QString ext = ".sp3";
184 QString path = settings.value("cmbSP3Path").toString();
185 QString interval = "";
186 int sampl = 0;
187 _sp3 = new bnsSP3(prep, ext, path, interval, sampl);
188 }
189
190 _append = Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked;
191
192 // ANTEX File
193 // ----------
194 _antex = 0;
195 QString antexFileName = settings.value("pppAntex").toString();
196 if (!antexFileName.isEmpty()) {
197 _antex = new bncAntex();
198 if (_antex->readFile(antexFileName) != success) {
199 emit newMessage("wrong ANTEX file", true);
200 delete _antex;
201 _antex = 0;
202 }
203 }
204}
205
206// Destructor
207////////////////////////////////////////////////////////////////////////////
208bncComb::~bncComb() {
209 QMapIterator<QString, cmbAC*> it(_ACs);
210 while (it.hasNext()) {
211 it.next();
212 delete it.value();
213 }
214 delete _caster;
215 delete _out;
216 delete _sp3;
217 delete _antex;
218}
219
220// Read and store one correction line
221////////////////////////////////////////////////////////////////////////////
222void bncComb::processCorrLine(const QString& staID, const QString& line) {
223 QMutexLocker locker(&_mutex);
224
225 // Find the relevant instance of cmbAC class
226 // -----------------------------------------
227 if (_ACs.find(staID) == _ACs.end()) {
228 return;
229 }
230 cmbAC* AC = _ACs[staID];
231
232 // Read the Correction
233 // -------------------
234 t_corr* newCorr = new t_corr();
235 if (!newCorr->readLine(line) == success) {
236 delete newCorr;
237 return;
238 }
239
240 // Reject delayed corrections
241 // --------------------------
242 if (_processedBeforeTime.valid() && newCorr->tt < _processedBeforeTime) {
243 delete newCorr;
244 return;
245 }
246
247 // Check the Ephemeris
248 //--------------------
249 if (_eph.find(newCorr->prn) == _eph.end()) {
250 delete newCorr;
251 return;
252 }
253 else {
254 t_eph* lastEph = _eph[newCorr->prn]->last;
255 t_eph* prevEph = _eph[newCorr->prn]->prev;
256 if (lastEph && lastEph->IOD() == newCorr->iod) {
257 newCorr->eph = lastEph;
258 }
259 else if (prevEph && prevEph->IOD() == newCorr->iod) {
260 newCorr->eph = prevEph;
261 }
262 else {
263 delete newCorr;
264 return;
265 }
266 }
267
268 // Process all older Epochs (if there are any)
269 // -------------------------------------------
270 const double waitTime = 5.0; // wait 5 sec
271 _processedBeforeTime = newCorr->tt - waitTime;
272
273 QList<cmbEpoch*> epochsToProcess;
274
275 QMapIterator<QString, cmbAC*> itAC(_ACs);
276 while (itAC.hasNext()) {
277 itAC.next();
278 cmbAC* AC = itAC.value();
279
280 QMutableListIterator<cmbEpoch*> itEpo(AC->epochs);
281 while (itEpo.hasNext()) {
282 cmbEpoch* epoch = itEpo.next();
283 if (epoch->time < _processedBeforeTime) {
284 epochsToProcess.append(epoch);
285 itEpo.remove();
286 }
287 }
288 }
289
290 if (epochsToProcess.size()) {
291 processEpochs(epochsToProcess);
292 }
293
294 // Check Modulo Time
295 // -----------------
296 const int moduloTime = 10;
297 if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
298 delete newCorr;
299 return;
300 }
301
302 // Find/Create the instance of cmbEpoch class
303 // ------------------------------------------
304 cmbEpoch* newEpoch = 0;
305 QListIterator<cmbEpoch*> it(AC->epochs);
306 while (it.hasNext()) {
307 cmbEpoch* hlpEpoch = it.next();
308 if (hlpEpoch->time == newCorr->tt) {
309 newEpoch = hlpEpoch;
310 break;
311 }
312 }
313 if (newEpoch == 0) {
314 newEpoch = new cmbEpoch(AC->name);
315 newEpoch->time = newCorr->tt;
316 AC->epochs.append(newEpoch);
317 }
318
319 // Merge or add the correction
320 // ---------------------------
321 if (newEpoch->corr.find(newCorr->prn) != newEpoch->corr.end()) {
322 newEpoch->corr[newCorr->prn]->readLine(line); // merge (multiple messages)
323 }
324 else {
325 newEpoch->corr[newCorr->prn] = newCorr;
326 }
327}
328
329// Send results to caster
330////////////////////////////////////////////////////////////////////////////
331void bncComb::dumpResults(const bncTime& resTime,
332 const QMap<QString, t_corr*>& resCorr) {
333
334 _caster->open();
335
336 unsigned year, month, day;
337 resTime.civil_date (year, month, day);
338 double GPSweeks = resTime.gpssec();
339
340 struct ClockOrbit co;
341 memset(&co, 0, sizeof(co));
342 co.GPSEpochTime = (int)GPSweeks;
343 co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
344 + 3 * 3600 - gnumleap(year, month, day);
345 co.ClockDataSupplied = 1;
346 co.OrbitDataSupplied = 1;
347 co.SatRefDatum = DATUM_ITRF;
348
349 QMapIterator<QString, t_corr*> it(resCorr);
350 while (it.hasNext()) {
351 it.next();
352 t_corr* corr = it.value();
353
354 struct ClockOrbit::SatData* sd = 0;
355 if (corr->prn[0] == 'G') {
356 sd = co.Sat + co.NumberOfGPSSat;
357 ++co.NumberOfGPSSat;
358 }
359 else if (corr->prn[0] == 'R') {
360 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
361 ++co.NumberOfGLONASSSat;
362 }
363
364 if (sd != 0) {
365 sd->ID = corr->prn.mid(1).toInt();
366 sd->IOD = corr->iod;
367 sd->Clock.DeltaA0 = corr->dClk * t_CST::c;
368 sd->Orbit.DeltaRadial = corr->rao(1);
369 sd->Orbit.DeltaAlongTrack = corr->rao(2);
370 sd->Orbit.DeltaCrossTrack = corr->rao(3);
371 sd->Orbit.DotDeltaRadial = corr->dotRao(1);
372 sd->Orbit.DotDeltaAlongTrack = corr->dotRao(2);
373 sd->Orbit.DotDeltaCrossTrack = corr->dotRao(3);
374 }
375
376 // SP3 Output
377 // ----------
378 if (_sp3) {
379 ColumnVector xc(4);
380 ColumnVector vv(3);
381 corr->eph->position(resTime.gpsw(), resTime.gpssec(),
382 xc.data(), vv.data());
383 bncPPPclient::applyCorr(resTime, corr, xc, vv);
384
385 // Relativistic Correction
386 // -----------------------
387 xc(4) += 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c;
388
389 // Correction Phase Center --> CoM
390 // -------------------------------
391 if (_antex) {
392 ColumnVector dx(3); dx = 0.0;
393 double Mjd = resTime.mjd() + resTime.daysec()/86400.0;
394 if (_antex->satCoMcorrection(corr->prn, Mjd, xc.Rows(1,3), dx) == success) {
395 xc(1) -= dx(1);
396 xc(2) -= dx(2);
397 xc(3) -= dx(3);
398 }
399 else {
400 cout << "antenna not found" << endl;
401 }
402 }
403 _sp3->write(resTime.gpsw(), resTime.gpssec(), corr->prn, xc, _append);
404 }
405
406 delete corr;
407 }
408
409 // Send Corrections to Caster
410 // --------------------------
411 if ( _caster->usedSocket() &&
412 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
413 char obuffer[CLOCKORBIT_BUFFERSIZE];
414 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
415 if (len > 0) {
416 _caster->write(obuffer, len);
417 }
418 }
419
420 // Optionall send new Corrections to PPP client and/or write into file
421 // -------------------------------------------------------------------
422 RTCM3coDecoder::reopen(_outNameSkl, _outName, _out);
423 bncApp* app = (bncApp*) qApp;
424 if (app->_bncPPPclient || _out) {
425 QStringList corrLines;
426 co.messageType = COTYPE_GPSCOMBINED;
427 QStringListIterator il(RTCM3coDecoder::corrsToASCIIlines(resTime.gpsw(),
428 resTime.gpssec(), co, 0));
429 while (il.hasNext()) {
430 QString line = il.next();
431 if (_out) {
432 *_out << line.toAscii().data() << endl;
433 _out->flush();
434 }
435 line += " " + _caster->mountpoint();
436 corrLines << line;
437 }
438
439 if (app->_bncPPPclient) {
440 app->_bncPPPclient->slotNewCorrections(corrLines);
441 }
442 }
443}
444
445// Change the correction so that it refers to last received ephemeris
446////////////////////////////////////////////////////////////////////////////
447void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
448
449 ColumnVector oldXC(4);
450 ColumnVector oldVV(3);
451 corr->eph->position(corr->tt.gpsw(), corr->tt.gpssec(),
452 oldXC.data(), oldVV.data());
453
454 ColumnVector newXC(4);
455 ColumnVector newVV(3);
456 lastEph->position(corr->tt.gpsw(), corr->tt.gpssec(),
457 newXC.data(), newVV.data());
458
459 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
460 ColumnVector dV = newVV - oldVV;
461 double dC = newXC(4) - oldXC(4);
462
463 ColumnVector dRAO(3);
464 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
465
466 ColumnVector dDotRAO(3);
467 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
468
469 QString msg = "switch " + corr->prn
470 + QString(" %1 -> %2 %3").arg(corr->iod,3)
471 .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
472
473 emit newMessage(msg.toAscii(), false);
474
475 corr->iod = lastEph->IOD();
476 corr->eph = lastEph;
477 corr->rao += dRAO;
478 corr->dotRao += dDotRAO;
479 corr->dClk -= dC;
480}
481
482// Process Epochs
483////////////////////////////////////////////////////////////////////////////
484void bncComb::processEpochs(const QList<cmbEpoch*>& epochs) {
485
486 _log.clear();
487
488 QTextStream out(&_log, QIODevice::WriteOnly);
489
490 out << "Combination:" << endl
491 << "------------------------------" << endl;
492
493 // Predict Parameters Values, Add White Noise
494 // ------------------------------------------
495 for (int iPar = 1; iPar <= _params.size(); iPar++) {
496 cmbParam* pp = _params[iPar-1];
497 if (pp->sig_P != 0.0) {
498 pp->xx = 0.0;
499 for (int jj = 1; jj <= _params.size(); jj++) {
500 _QQ(iPar, jj) = 0.0;
501 }
502 _QQ(iPar,iPar) = pp->sig_P * pp->sig_P;
503 }
504 }
505
506 bncTime resTime = epochs.first()->time;
507 QMap<QString, t_corr*> resCorr;
508
509 int nPar = _params.size();
510 int nObs = 0;
511
512 ColumnVector x0(nPar);
513 for (int iPar = 1; iPar <= _params.size(); iPar++) {
514 cmbParam* pp = _params[iPar-1];
515 x0(iPar) = pp->xx;
516 }
517
518 // Count Observations
519 // ------------------
520 QListIterator<cmbEpoch*> itEpo(epochs);
521 while (itEpo.hasNext()) {
522 cmbEpoch* epo = itEpo.next();
523 QMutableMapIterator<QString, t_corr*> itCorr(epo->corr);
524 while (itCorr.hasNext()) {
525 itCorr.next();
526 t_corr* corr = itCorr.value();
527
528 // Switch to last ephemeris
529 // ------------------------
530 t_eph* lastEph = _eph[corr->prn]->last;
531 if (lastEph == corr->eph) {
532 ++nObs;
533 }
534 else {
535 if (corr->eph == _eph[corr->prn]->prev) {
536 switchToLastEph(lastEph, corr);
537 ++nObs;
538 }
539 else {
540 itCorr.remove();
541 }
542 }
543 }
544 }
545
546 if (nObs > 0) {
547 Matrix AA(nObs, nPar);
548 ColumnVector ll(nObs);
549 DiagonalMatrix PP(nObs); PP = 1.0;
550
551 int iObs = 0;
552 QListIterator<cmbEpoch*> itEpo(epochs);
553 while (itEpo.hasNext()) {
554 cmbEpoch* epo = itEpo.next();
555 QMapIterator<QString, t_corr*> itCorr(epo->corr);
556
557 while (itCorr.hasNext()) {
558 itCorr.next();
559 ++iObs;
560 t_corr* corr = itCorr.value();
561
562 if (epo->acName == _masterAC) {
563 resCorr[corr->prn] = new t_corr(*corr);
564 }
565
566 for (int iPar = 1; iPar <= _params.size(); iPar++) {
567 cmbParam* pp = _params[iPar-1];
568 AA(iObs, iPar) = pp->partial(epo->acName, corr);
569 }
570
571 ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
572 }
573
574 delete epo;
575 }
576
577 ColumnVector dx;
578 bncModel::kalman(AA, ll, PP, _QQ, dx);
579 ColumnVector vv = ll - AA * dx;
580
581 for (int iPar = 1; iPar <= _params.size(); iPar++) {
582 cmbParam* pp = _params[iPar-1];
583 pp->xx += dx(iPar);
584 if (pp->type == cmbParam::clk) {
585 if (resCorr.find(pp->prn) != resCorr.end()) {
586 resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
587 }
588 }
589 out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
590 out.setRealNumberNotation(QTextStream::FixedNotation);
591 out.setFieldWidth(8);
592 out.setRealNumberPrecision(4);
593 out << pp->toString() << " "
594 << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
595 }
596 }
597
598 printResults(out, resTime, resCorr);
599 dumpResults(resTime, resCorr);
600
601 emit newMessage(_log, false);
602}
603
604// Print results to caster
605////////////////////////////////////////////////////////////////////////////
606void bncComb::printResults(QTextStream& out, const bncTime& resTime,
607 const QMap<QString, t_corr*>& resCorr) {
608
609 QMapIterator<QString, t_corr*> it(resCorr);
610 while (it.hasNext()) {
611 it.next();
612 t_corr* corr = it.value();
613 const t_eph* eph = corr->eph;
614 if (eph) {
615 double xx, yy, zz, cc;
616 eph->position(resTime.gpsw(), resTime.gpssec(), xx, yy, zz, cc);
617
618 out << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
619 out.setFieldWidth(3);
620 out << "Full Clock " << corr->prn << " " << corr->iod << " ";
621 out.setFieldWidth(14);
622 out << (cc + corr->dClk) * t_CST::c << endl;
623 }
624 else {
625 out << "bncComb::printResuls bug" << endl;
626 }
627 }
628}
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